#!/bin/sh
#
# @name Generic Ground Vehicle
#
# @type Rover
# @class Rover
#
# @output MAIN2 steering
# @output MAIN4 throttle
#
# @maintainer
#
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.rover_defaults


param set-default BAT1_N_CELLS 2

param set-default EKF2_ANGERR_INIT 0.01
param set-default EKF2_GBIAS_INIT 0.01
param set-default EKF2_MAG_TYPE 1

param set-default FW_AIRSPD_MAX 3
param set-default FW_AIRSPD_MIN 0
param set-default FW_AIRSPD_TRIM 1

# Settings for a typical wheelbase 0f 0.3m
param set-default GND_L1_DIST 1
param set-default GND_L1_PERIOD 5
param set-default GND_SP_CTRL_MODE 1
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_THR_SC 1
param set-default GND_THR_CRUISE 0.3
param set-default GND_THR_MAX 0.5
param set-default GND_THR_MIN 0

param set-default MIS_LTRMIN_ALT 0.01
param set-default MIS_TAKEOFF_ALT 0.01

param set-default NAV_ACC_RAD 0.5

# Provide ESC a constant 1500 us pulse
param set-default PWM_MAIN_DISARM 1500
param set-default PWM_MAIN_MAX 2000
param set-default PWM_MAIN_MIN 1000

# Set mixer
set MIXER rover_generic

set PWM_MAIN_REV2 1
